Fiqh-us-Sunnah Volume 5, Hajj and ‘Umrah, Fiqh 5.073.

The male should cover from the navel to the knee, and the female all her body except her face, hands and feet. (Tran.) Abu Hurairah reported: “During the Hajj for which Abu Bakr was appointed the leader by Allah’s Messenger (peace be upon him), before the Farewell Hajj, Abu Bakr sent me with a group to announce the Day of Nahr – the 10th of Zhul-Hijjah – and to proclaim: ‘No idolater nor any naked person shall be allowed to perform tawaf of the Ka’bah after this year.” (Bukhari and Muslim)